diff --git a/robotis_controller/include/robotis_controller/robotis_controller.h b/robotis_controller/include/robotis_controller/robotis_controller.h
index aab8da0..c27d888 100755
--- a/robotis_controller/include/robotis_controller/robotis_controller.h
+++ b/robotis_controller/include/robotis_controller/robotis_controller.h
@@ -117,6 +117,7 @@ class RobotisController : public Singleton<RobotisController>
   RobotisController();
 
   bool    initialize(const std::string robot_file_path, const std::string init_file_path);
+  bool    initialize(Robot *robot, const std::string init_file_path);
   void    initializeDevice(const std::string init_file_path);
   void    process();
 
diff --git a/robotis_controller/src/robotis_controller/robotis_controller.cpp b/robotis_controller/src/robotis_controller/robotis_controller.cpp
index 82c8c54..0f7f200 100755
--- a/robotis_controller/src/robotis_controller/robotis_controller.cpp
+++ b/robotis_controller/src/robotis_controller/robotis_controller.cpp
@@ -199,8 +199,14 @@ bool RobotisController::initialize(const std::string robot_file_path, const std:
   std::string dev_desc_dir_path = ros::package::getPath("robotis_device") + "/devices";
 
   // load robot info : port , device
-  robot_ = new Robot(robot_file_path, dev_desc_dir_path);
+  Robot *new_robot = new Robot(robot_file_path, dev_desc_dir_path);
+  initialize(new_robot, init_file_path);
+}
+
 
+bool RobotisController::initialize(Robot *robot, const std::string init_file_path)
+{
+  robot_ = robot;
   if (gazebo_mode_ == true)
   {
     queue_thread_ = boost::thread(boost::bind(&RobotisController::msgQueueThread, this));